4:30 - 6:30 pm
1) Tested video and graphs on real data and video of robot.
RESULTS AND ISSUES:
1. It seeme to be possible to do everything on a single computer i.e. Simultaneously reading parameters (labview), recording video (matlab or other). Post processing using matlab will then be done with matlab on the same computer and all the required files (video and txt) will be readily available.
2. Timing issue: When tested using my personal camera, the video did not match the appropriate data. Two possible causes: Either the frame reading rate of the camera is not constant OR Matlab cannot read video frames in a real-time way and introduces delays.
We might want to do that experiment again with another camera.
February 16, 2008
February 15, 2008
2/15/08 Rohit Hippalgaonkar
Saturday (2/15) - 10.30 am to 11.30 am; 1.30 to 4.30 pm
1. outer leg inertia experiment (15 mins)
2. Root-finding of simplest walker (3 hours)
3. Help from Gregg
-------------------------------------------------------------------------------------------------
1. Told Carlos and Bram about procedure to set-up and measure the inertia of the outer leg, with pictures et al, with and without the motor coupled.
2. More work on my own root-finding code for the Simplest Walker - got stuck after a while.
3. Consulted Gregg on how to work around this. Also got a fill in on what went on during the lecture I missed (TAM 796) on 2/14 Thursday.
1. outer leg inertia experiment (15 mins)
2. Root-finding of simplest walker (3 hours)
3. Help from Gregg
-------------------------------------------------------------------------------------------------
1. Told Carlos and Bram about procedure to set-up and measure the inertia of the outer leg, with pictures et al, with and without the motor coupled.
2. More work on my own root-finding code for the Simplest Walker - got stuck after a while.
3. Consulted Gregg on how to work around this. Also got a fill in on what went on during the lecture I missed (TAM 796) on 2/14 Thursday.
02/15/08 Nicole Rodia
1:00 - 5:00 pm
1. Research motor control board components
2. Determined test motor controller/ADC board specs
--------------------------------------------------------
1. Read datasheets for various components needed on motor controller board, including half bridge, A-to-D Converter, high speed amp for ADC, CAN bus transceiver. Compiled datasheets for all necessary parts for the board.
2. For test board, will need motor controller (H-Bridge), A-to-D converter, amp for ADC, multiplexer to switch between multiple analog inputs. By using a multiplexer, only one ADC is needed - can save space and power.
1. Research motor control board components
2. Determined test motor controller/ADC board specs
--------------------------------------------------------
1. Read datasheets for various components needed on motor controller board, including half bridge, A-to-D Converter, high speed amp for ADC, CAN bus transceiver. Compiled datasheets for all necessary parts for the board.
2. For test board, will need motor controller (H-Bridge), A-to-D converter, amp for ADC, multiplexer to switch between multiple analog inputs. By using a multiplexer, only one ADC is needed - can save space and power.
2/15/08 Avtar Khalsa
12:30PM-3:00PM ~2:30 hrs
1) Established another set of meeting times for Control Team
2) Worked on the code
------------------------------------------------------------------------
1) It seems that the last meeting time we had scheduled turned out not to work for enough people. The meeting will now hopefully be on tuesday the 19th. There are multiple times during the day that work for both myself and jason, so depending on whats best for Andrey and Alex the meeting should be have happened by tuesday night
2) I spent some time brainstorming the new design structure for the code. We have to presently assume we can only use C, however we are going to plan the code as if we will have C++ at our disposal. I thought of several potential object structures that could be used, although the meeting will probably yield more results.
1) Established another set of meeting times for Control Team
2) Worked on the code
------------------------------------------------------------------------
1) It seems that the last meeting time we had scheduled turned out not to work for enough people. The meeting will now hopefully be on tuesday the 19th. There are multiple times during the day that work for both myself and jason, so depending on whats best for Andrey and Alex the meeting should be have happened by tuesday night
2) I spent some time brainstorming the new design structure for the code. We have to presently assume we can only use C, however we are going to plan the code as if we will have C++ at our disposal. I thought of several potential object structures that could be used, although the meeting will probably yield more results.
Satellite Board I/O & Board Types from 02/08 mtg
Notes from New Controls System Design Meeting, 02/08/08
Satellite Board Inputs and Outputs
PWM – motor voltage
Blinking lights/beeps
Data --> wireless (own board)
LCD screen
RC servo motor
[“black box” (SD)]
IN
Motor encoder
Angle encode (for ankles) – SPI
Analog foot sensor
Current sensors (analog)
Voltage sensors (analog)
Serial to IMU – inertial measurement
Accelerometer (analog or digital – SPI)
Gyroscope
RC servo motor
Switches (limit, push button)
Potential: GPS, vision, force/torque sensors
Board Types
- Motor Board
- H-bridge (x1)
- Encoder
i. Optical (incremental)
ii. Magnetic (absolute)
- Current sensor (x2)
- Voltage sensor (x2)
- Watchdog timer (no I/O)
- User I/O
- Buttons on the board
- LCD
- A lot of unused wires
- (IMU)
- Sensor
- IMU (RS 232 connector & ICs)
- A/D (x4)
- Unused wires
- Encoders
i. Optical
ii. Magnetic
- Miniature Board For Joints (SPI)
- Magnetic sensor on board
- Connect to board 1 or 3
- RC Servo – Specialized motor board
- RC servo version w/ 2 controllers
2/14/08 John Buzzi
1:20 - 4:00pm
1) Did more research on the waterjet cutter and compiled the relevant information in a word document.
2) Installed the new servo
---------------------------------
1) I took relevant information from online about water jet cutters and put it into one place in order to have an overview of the process. Relevant information included capabilities of water jet cutters, pros, cons, and costs. Furthermore i included contact information of various facilities where this service is available so that i can discuss with them possible pricing or perhaps even get a sample part.
2) I took the servo that I had previously prepared for installation and soldered the wires to the potentiometer in the body of the robot. I made a pin connector that connects the robot controller to the servo. I filed down parts of the exterior of the servo so that it would properly fit on the mounting bracket. I mounted the servo on the bracket and then installed the bracket on the robot. The gears were tested and the system worked properly. The remaining work to be done is just to deal with the wires so they are not floating around inside the robot, they need to be routed along the walls so that they are out of the way of moving parts.
1) Did more research on the waterjet cutter and compiled the relevant information in a word document.
2) Installed the new servo
---------------------------------
1) I took relevant information from online about water jet cutters and put it into one place in order to have an overview of the process. Relevant information included capabilities of water jet cutters, pros, cons, and costs. Furthermore i included contact information of various facilities where this service is available so that i can discuss with them possible pricing or perhaps even get a sample part.
2) I took the servo that I had previously prepared for installation and soldered the wires to the potentiometer in the body of the robot. I made a pin connector that connects the robot controller to the servo. I filed down parts of the exterior of the servo so that it would properly fit on the mounting bracket. I mounted the servo on the bracket and then installed the bracket on the robot. The gears were tested and the system worked properly. The remaining work to be done is just to deal with the wires so they are not floating around inside the robot, they need to be routed along the walls so that they are out of the way of moving parts.
2/13/08 John Buzzi
2:00-4:30pm
1) Researched Water Jet cutting as a possibility for the rolling elements
2) prepared the new servo to be connected to the robot
------------------------------------------------------
1) I spent my time looking up waterjet cutting facilities that cater to the upstate new york area and just looked at some general information about waterjet.
2) I removed the potentiometer from the new servo and extended the wires so that the motor could be easily installed and maneuvered inside the robot. This unfortunately took longer than expected because I had originally extended the wires with non-stranded cable which is not a good idea because when bent back and forth it is more likely to break than stranded cable. So I removed the heat shrink and the solder and reconnected a ribbon cable to the existing wires.
1) Researched Water Jet cutting as a possibility for the rolling elements
2) prepared the new servo to be connected to the robot
------------------------------------------------------
1) I spent my time looking up waterjet cutting facilities that cater to the upstate new york area and just looked at some general information about waterjet.
2) I removed the potentiometer from the new servo and extended the wires so that the motor could be easily installed and maneuvered inside the robot. This unfortunately took longer than expected because I had originally extended the wires with non-stranded cable which is not a good idea because when bent back and forth it is more likely to break than stranded cable. So I removed the heat shrink and the solder and reconnected a ribbon cable to the existing wires.
2/14/'08, Rohit Hippalgaonkar
Tuesday : 6.30pm to 8.30 pm; 10.30 pm to 12.30 am (from home)
Wednesday: 11 pm to 12 pm (from home)
Thursday 1 am to 3 am (from home)
--------------------------------------------------------------------------
1. Implementing root-finding on the Simplest Walker (3 hours)
2. Debugging animation (5 hours)
----------------------------------------------------------------------------
1. Have been looking around for packages that do root-finding in Python. There are packages that do root-finding for the purpose of a scalar-valued function, but not for vector-valued functions. Have been working on my own root-solver.
2. My root-solving package required some changes to my original code - this led to a tiny bug that was hard to detect. Getting my previously successful animation to run again took up all that time - turned out being a tiny syntax error that was hard to detect!
Wednesday: 11 pm to 12 pm (from home)
Thursday 1 am to 3 am (from home)
--------------------------------------------------------------------------
1. Implementing root-finding on the Simplest Walker (3 hours)
2. Debugging animation (5 hours)
----------------------------------------------------------------------------
1. Have been looking around for packages that do root-finding in Python. There are packages that do root-finding for the purpose of a scalar-valued function, but not for vector-valued functions. Have been working on my own root-solver.
2. My root-solving package required some changes to my original code - this led to a tiny bug that was hard to detect. Getting my previously successful animation to run again took up all that time - turned out being a tiny syntax error that was hard to detect!
February 14, 2008
2/8/08 Leticia Rojas
2:00-5:30
1. installed matlab and Labview on my computer.
2. searched for high fps rate cameras
----------------------------------------
1. Installation took about 2 hours, and I couldn't really do much else while the instalation was done. Matlab is not completely installed
2. Started researching high speed cameras for use in synchronizing video with data on the matlab data analysis program. Found some website and archived the data sheets of several of them.
1. installed matlab and Labview on my computer.
2. searched for high fps rate cameras
----------------------------------------
1. Installation took about 2 hours, and I couldn't really do much else while the instalation was done. Matlab is not completely installed
2. Started researching high speed cameras for use in synchronizing video with data on the matlab data analysis program. Found some website and archived the data sheets of several of them.
February 13, 2008
2/8/08 John Buzzi
11:00am-5:00pm
1) met with Jason to discuss my project with the steering system
2) met with Bramm to discuss team meeting
3) Went to Plasma cutting facility to create rolling elements
4) machined the new gear to be press fit onto the new servo
--------------------------------------------------------------
1) My steering system project is that i need to machine a gear to be fit onto the new servo. After that is completed the servo needs to be connected to the potentiometer in the robot and mounted properly.
2) Discussed with Bramm what it is that I am doing and what it is the ranger team is doing in general
3) I went to the PDC sheet metal shop in order to attempt the plasma cutting of the rolling elements. After many trials of varying speed and intensity of the cut it was determined that cutting 3/8" aluminum with a plasma cutter (or at least that particular plasma cutter) is not a good idea.
4) the gears that we purchased did not have a hole big enough to fit onto the servo that we have, so in order to fix this problem i machined out the hole in the gear so that it could be properly press fit onto the servo.
1) met with Jason to discuss my project with the steering system
2) met with Bramm to discuss team meeting
3) Went to Plasma cutting facility to create rolling elements
4) machined the new gear to be press fit onto the new servo
--------------------------------------------------------------
1) My steering system project is that i need to machine a gear to be fit onto the new servo. After that is completed the servo needs to be connected to the potentiometer in the robot and mounted properly.
2) Discussed with Bramm what it is that I am doing and what it is the ranger team is doing in general
3) I went to the PDC sheet metal shop in order to attempt the plasma cutting of the rolling elements. After many trials of varying speed and intensity of the cut it was determined that cutting 3/8" aluminum with a plasma cutter (or at least that particular plasma cutter) is not a good idea.
4) the gears that we purchased did not have a hole big enough to fit onto the servo that we have, so in order to fix this problem i machined out the hole in the gear so that it could be properly press fit onto the servo.
February 12, 2008
02/12/08 - Hajime Furukawa
2:30 - 7:00
1) Motor Controller Board (4.5h)
---------------------------------------------
1) Discussed with Jason what needed to connect extra jumpers on the side and connected those wires. Changed part AD8030 to AD8040 and added voltage divider circuit. Ran into various troubles because of Eagle... Finished Connecting up the digital logic to control the motor controllers, and connected other various wires.
1) Motor Controller Board (4.5h)
---------------------------------------------
1) Discussed with Jason what needed to connect extra jumpers on the side and connected those wires. Changed part AD8030 to AD8040 and added voltage divider circuit. Ran into various troubles because of Eagle... Finished Connecting up the digital logic to control the motor controllers, and connected other various wires.
2/12/08 Gregory Falco
10:45-1:00PM
1. BOOM (1.25 hrs)
2. Schedule (.5 hrs)
3. Presentations (.5 hrs)
--------------------------------------------------
1. BOOM application did not go through. We are having problems submitting our project. I have been working with Amy Fish to try and get our application problems solved. It seems as if it does not recognize our submitted app in the system.
2. Resent and remade schedule with necessary changes.
3. Redid presentation schedule for lab.
1. BOOM (1.25 hrs)
2. Schedule (.5 hrs)
3. Presentations (.5 hrs)
--------------------------------------------------
1. BOOM application did not go through. We are having problems submitting our project. I have been working with Amy Fish to try and get our application problems solved. It seems as if it does not recognize our submitted app in the system.
2. Resent and remade schedule with necessary changes.
3. Redid presentation schedule for lab.
February 11, 2008
2/11/08 Stephane Constantin
6:30 - 7:30 pm
Matlab graphing and video program
1. Improved GUI interface
2. Tested extreme cases
Matlab graphing and video program
1. Improved GUI interface
2. Tested extreme cases
02/11/08 Nicole Rodia
3:45 - 5:00 pm
-Looked up data sheets for motor board parts
-Read brief tutorial of Eagle & received Eagle directions from Sam
-Set Future Electronics group meeting time to Mondays @ 4:30 pm
-Looked up data sheets for motor board parts
-Read brief tutorial of Eagle & received Eagle directions from Sam
-Set Future Electronics group meeting time to Mondays @ 4:30 pm
2/11/08 Gregory Falco
12:00PM- 2:00PM
1. BOOM (.5 hrs)
2. Schedule (.25 hrs)
3. Blog (.25 hrs)
--------------------------------
1. Applied for BOOM 2008: wrote lab summary from last year's description, wrote lab team members, working on details (ie. logo, presentation, poster)
2. Made preliminary lab schedule
3. Taught new members about lab notebook online and how to use it
1. BOOM (.5 hrs)
2. Schedule (.25 hrs)
3. Blog (.25 hrs)
--------------------------------
1. Applied for BOOM 2008: wrote lab summary from last year's description, wrote lab team members, working on details (ie. logo, presentation, poster)
2. Made preliminary lab schedule
3. Taught new members about lab notebook online and how to use it
2/6/08 Gregory Falco
3:00PM-5:00PM 5:30Pm-7:00PM
1. SMD Parts (2 hrs)
2. Lab Meeting & Prep (1.5 hrs)
-------------------------------------
1. Created labels for SMD parts and organized them by Capacitor size and type.
2. Bought pizza and created pre-scheduling documents for lab meeting
1. SMD Parts (2 hrs)
2. Lab Meeting & Prep (1.5 hrs)
-------------------------------------
1. Created labels for SMD parts and organized them by Capacitor size and type.
2. Bought pizza and created pre-scheduling documents for lab meeting
2/11 Stephane Constantin
11:30 to 1:30
Finalized user interface synchronization protocol between graphs and video.
Fixed display window
Finalized user interface synchronization protocol between graphs and video.
Fixed display window
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